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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Vincent Côté Philippe Cardou Department of Mechanical Engineering Robotics Laboratory Laval University Quebec City Canada

Cable-driven parallel robots (CDPRs) are a subset of conventional parallel robots which actuate an end-effector using arrangements of unilaterally-constrained cables. They allow for large workspaces and advanced end-effector dynamics, but require substantial supporting structures to be effective. This is problematic when deploying them in space-constrained applications. This paper studies a passive counterweight system proposed for allowing the deployment of CDPRs in applications with limited space availability. The need for such easily installed structures is explained and a quasi-static suspended 2-DoF CDPR is modelled. A counterweight system is then proposed and its kinetostatic model is developed. Finally, this model is utilized within an optimisation algorithm to determine system dimensions that achieve optimal moment cancellation in the supporting structure.

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Behavior-Based Control with Learning from Demonstration for Path Following Applied to Mobile Robots Soccer

Behavior-Based Control with Learning from Demonstration for ...

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IEEE Latin American robotics Symposium, LARS

作者： Matheus de S. Luiz M. A. Pastrana Guilherme Achilles de Oliveira e Aguiar R. B. Costa Luiz F. Rodrigues e Silva Faculty of Gama Electronics Engineering Undergraduate Program Department of Mechanical Engineering Mechatronics Graduate Program Faculty of Technology Mechatronics Engineering Undergraduate Program Faculty of Gama Aerospace Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9798331508807

ISBN: (纸本)9798331508814

Learning from Demonstration (LfD) enables robots to learn new tasks through an imitation process. This methodology can be combined with Behavior-Based Control (BBC), which facilitates the abstraction of behaviors for the robot by dividing them into micro-behaviors. These can be implemented using Artificial Neural Networks trained by bio-inspired algorithms. In this work, a novel methodology based on the LfD and BBC methods is proposed for controlling soccer robots, specifically for the Very Small Size Soccer (VSSS) category, which demands quick and dynamic responses. Simulations using CoppeliaSim were conducted to demonstrate how the proposed methodology can be used for path planning and path-following problems in the IEEE VSSS category.

关键词： Measurement Training Heuristic algorithms Artificial neural networks Turning Robustness Path planning Robots Optimization Sports

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Optothermal multimodal manipulation of micro/nanoparticles

Optothermal multimodal manipulation of micro/nanoparticles

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2023 Conference on Lasers and Electro-Optics, CLEO 2023

作者： Ding, Hongru Kollipara, Pavana Siddhartha Yao, Kan Zheng, Yuebing Walker Department of Mechanical Engineering The University of Texas at Austin AustinTX78712 United States Materials Science & Engineering Program Texas Materials Institute The University of Texas at Austin AustinTX78712 United States

ISBN: (纸本)9781957171258

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Design and Construction of a Low-Cost Combat Robot

Design and Construction of a Low-Cost Combat Robot

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2024 Brazilian Symposium on robotics (SBR), and 2024 Workshop on robotics in Education (WRE)

作者： R. B. Costa G. Itacaramby J. Cabral M. A. Pastrana J. M. Peñaloza Daniel M. Muñoz Faculty of Gama Automotive Engineering Undergraduate Program Faculty of Gama Aerospace Engineering Undergraduate Program Faculty of Gama Software Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil Department of Mechanical Engineering Mechatronics Graduate Program

ISBN: (数字)9798350391084

ISBN: (纸本)9798350391091

This paper presents the design and construction of a low-cost combat robot named Artemis, developed for participation in the Robocore Experience 2024 competition. The project emphasizes the integration of cost-effective components and innovative methodologies to create a competitive robot. The ESP32 microcontroller was selected for its advantages in energy efficiency and connectivity, surpassing traditional platforms like Arduino. The construction process involved several phases, including planning, development, testing, correction, and performance evaluation, utilizing tools such as CAD software for design and 3D printing for fabrication. Key components included a DC motor, L298N H-bridge, and a LiPo battery, all chosen to optimize performance while adhering to budget constraints. The robot's design evolved through iterative testing and adjustments, ultimately leading to a successful competition debut. This work highlights the importance of resourcefulness and collaboration in robotics, showcasing how educational institutions can foster innovation in engineering projects.

关键词： Technological innovation Microcontrollers Weapons Switches Three-dimensional printing Solids Software Time factors Robots Testing

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Optothermal Manipulation at Fluid Interfaces

Optothermal Manipulation at Fluid Interfaces

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2023 Conference on Lasers and Electro-Optics, CLEO 2023

作者： Kim, Youngsun Ponce, Carolina Chen, Zhihan Zheng, Yuebing Materials Science & Engineering Program Texas Materials Institute The University of Texas at Austin AustinTX78712 United States Walker Department of Mechanical Engineering The University of Texas at Austin AustinTX78712 United States

Optothermal manipulation of particles at fluid interfaces was studied with a film of gold nanoparticles assembled at aqueous/oil interfaces. The unique optothermal behaviors of particles and fluid interfaces under opt... 详细信息

ISBN: (纸本)9781957171258

关键词： Gold nanoparticles

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Corrigendum to "Effect of cell imprinting on viability and drug susceptibility of breast cancer cells to doxorubicin" [Acta Biomaterialia, 2020, 113, 119-129] (Acta Biomaterialia (2020) 113 (119–129), (S1742706120303287), (10.1016/***.2020.06.007))

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Acta Biomaterialia 2025年 198卷 571-572页

作者： Shahriyari, Fatemeh Janmaleki, Mohsen Sharifi, Shahriar Hesar, Milad Eyvazi Hoshian, Sasha Taghiabadi, Reza Razaghian, Ahmad Ghadiri, Majid Peirovi, Afshin Mahmoudi, Morteza Nezhad, Amir Sanati Khademhosseini, Ali Division of Engineering in Medicine Department of Medicine Brigham and Women's Hospital Harvard Medical School CambridgeMA United States Division of Health Sciences & Technology Harvard-Massachusetts Institute of Technology Massachusetts Institute of Technology CambridgeMA United States Department of Materials Engineering Faculty of Engineering Imam Khomeini International University Qazvin Iran Biomedical Engineering Graduate Program University of Calgary Canada Precision Health Program and Department of Radiology Michigan State University East LansingMI48824 United States RWTH Aachen University Templergraben 55 Aachen52062 Germany Department of Chemistry and Materials Science Aalto University School of Chemical Engineering Espoo Finland Department of Mechanical Engineering Faculty of Engineering Imam Khomeini International University Qazvin Iran Nano-Biotechnology Department Pasteur Institute of Iran Tehran Iran Departments of Bioengineering Chemical and Biomolecular Engineering and Radiological Sciences Center for Minimally Invasive Therapeutics California NanoSystems Institute University of California – Los Angeles Los AngelesCA United States Terasaki Institute for Biomedical Innovation Los AngelesCA United States

The authors regret to report that the images for panels h (Plain PDMS) and I (MCF7-imprinted PDMS) in Fig. 3 were mistakenly taken from the same dataset, resulting in the omission of the correct image in panel h for the Plain PDMS day 7 image. We sincerely apologize for this error. For an accurate representation, please see the corrected Fig. 3 provided here along with its original figure caption. This does not affect the validity of the statistical analyses or the overall conclusions drawn from the study. © 2025

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Thermomechanical Characterization of Hot Surface Ignition Device Using Phenomenological Heat Flux Model

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JOURNAL OF PROPULSION AND POWER 2022年第4期38卷 656-670页

作者： Kang, Sang-Guk Ryu, Je Ir Motily, Austen H. Numkiatsakul, Prapassorn Lee, Tonghun Kriven, Waltraud M. Kim, Kenneth S. Kweon, Chol-Bum M. U.S. Army Research Laboratory Aberdeen Proving Ground MD 21005 Aerospace Engineer Weapons and Materials Research Directorate Postdoctoral Fellow Computational and Information Sciences Directorate University of Illinois at Urbana-Champaign Urbana IL 61801 Graduate Student Department of Mechanical Science and Engineering. Student Member AIAA Graduate Student Department of Materials Science and Engineering Professor Department of Mechanical Science and Engineering. Associate Fellow AIAA Professor Department of Materials Science and Engineering Mechanical Engineer Computational and Information Sciences Directorate. Member AIAA Program Manager Computational and Information Sciences Directorate. Member AIAA.

Modern aircraft compression ignition engines that seek to achieve fuel-flexible operation require ignition-assisting devices to perform reliably. Many military propulsion systems, and unmanned aircraft in particular, can use hot surface energy addition to improve engine performance. An analysis of the thermomechanical stress behavior of hot surface ignition devices is therefore critical to ensure that they can satisfy new operational requirements. In this paper, a phenomenological heat-flux model is proposed to simulate heat generation inside a heating element. Two finite element analysis models are established using the proposed heat-flux model in order to characterize the transient thermomechanical behavior of an ignition assistant: a two-dimensional (2-D) axisymmetric model with an equivalent cylindrical heating element and a three-dimensional (3-D) solid model with realistic heating element geometry. The transient behavior of the ignition assistant is investigated at standard conditions by characterizing the temperature and thermal stress inside the device for various input voltages. The effect of the nonaxisymmetric heating element geometry on the temperature and thermal stress distribution is assessed. Furthermore, the 3-D ignition assistant model is used to analyze the thermomechanical behavior of an ignition device subjected to a combustion event inside a rapid compression machine. Multiple circumferential orientations of the heating element plane relative to the spray axis are investigated. Results demonstrate that the observed maximum principal stress depends significantly on heating element orientation.

关键词： Heat Flux Stress Distribution Heat Generation Unmanned Aerial Vehicle Propulsion System Surface Energy Adaptive Mesh Refinement Fuel Injection CFD Simulation Fracture Toughness

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Stepwise Pyrolysis by LBCR Downstream to Enhance of Gasoline Fraction of Liquid Fuel from MMSW

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Energy engineering 2022年第3期119卷 1169-1178页

作者： Indra Mamad Gandidi Edy Suryadi Efri Mardawati Dwi Rustam Kendarto Nugroho Agung Pambudi Department of Mechanical Engineering Education Universitas Pendidikan IndonesiaBandung40154Indonesia Postgraduate Student of Doctoral Program Faculty Agroindustrial TechnologyUniversitas PadjadjaranJatinangor45363Indonesia Faculty Agroindustrial Technology Universitas PadjadjaranJatinangor45363Indonesia Department of Mechanical Engineering Education Universitas Sebelas MaretSurakarta57126Indonesia

Pyrolysis is one of the thermal cracking methods to convert hydrocarbon to liquid *** quantity and quality of the process are dependent on several condition including temperature,reaction time,catalyst,and the type of ***,a gasoline fraction was maximum product to be considered in the pyrolisis ***,this study aims to increase the gasoline fraction in liquid fuel using stepwise pyrolysis with a long bed catalytic reactor downstream(LBCR).The LBCR downstream was equipped with the top and bottom outlet and the fed source was mixed municipal solid waste(MMSW).The activated natural dolomite at 500℃ was used to allow the repetition of the secondary ***,the reactor temperature was setup at around 200℃-300℃ and the pyrolizer was 400℃.To analyze the gasoline fraction and physical properties of liquid fuel,Gas Chromatography-Mass Spectroscopy(GC-MS)and ASTM standard were *** experimental results showed there was a significant increase in the gasoline fraction of liquid fuels compared to using direct catalytic cracking and absence of *** using a LBCR at 250℃,the liquid fuel obtained at top outlet(TO)and bottom outlet(BO)have 84.08 and 56.94 percent peak area of gasoline fraction(C5-C12),*** average value(TO and BO)of the fraction at 250℃ by LBCR was 70.51 percent peak area and it was increased by about 93.6%and 51.14%compared to without catalyst and direct catalytic,***,pyrolytic liquid oils were found to have kinematic viscosity of 2.979 and 0.789 cSt,density of 0.781 and 0.782 g/cm^(3),and flash point<−5℃ for BO-250 and TO-250 liquid fuel,*** results showed BO liquid fuel was comparable to diesel conventional fuel while TO liquid fuel was comparable to ***,the presence of LBCR made a major contribution to generate multi secondary cracking and to produce more gasoline fraction from mixed MMSW feedstock,as well as to increase the physical properties of l

关键词： Liquid fuel gasoline fraction LBC MMSW stepwise pyrolysis natural dolomite catalys

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A Novel Tactile Palm for Robotic Object Manipulation 16th

A Novel Tactile Palm for Robotic Object Manipulation

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Zhao, Fuqiang Huang, Bidan Li, Mingchang Li, Mengde Fu, Zhongtao Lei, Ziwei Li, Miao The School of Power and Mechanical Engineering Wuhan University Wuhan China Tencent Robotics X Guangdong Province Shenzhen China Department of Neurosurgery Renmin Hospital of Wuhan University Wuhan China The Institute of Technological Sciences Wuhan University Wuhan China School of Mechanical and Electrical Engineering Wuhan Institute of Technology Wuhan China

ISBN: (纸本)9789819964949

Tactile sensing is of great importance during human hand usage such as object exploration, grasping and manipulation. Different types of tactile sensors have been designed during the past decades, which are mainly focused on either the fingertips for grasping or the upper-body for human-robot interaction. In this paper, a novel soft tactile sensor has been designed to mimic the functionality of human palm that can estimate the contact state of different objects. The tactile palm mainly consists of three parts including an electrode array, a soft cover skin and conductive sponge. The design principle are described in details, with a number of experiments showcasing the effectiveness of the proposed design. (This work was supported by Suzhou Key Industry Technology Innovation Project under the grant agreement number SYG202121 and by the Fundamental Research Funds for the Central Universities under the grant agreement number 2042023kf0110). © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Tactile sensors

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Continuous Lithium-Ion Extraction From Seawater and Mine Water With a Fuel Cell System and Ceramic Membranes

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Energy & Environmental Materials 2024年第6期 258-265页

作者： Cansu K?k Lei Wang Jean Gustavo A.Ruthes Antje Quade Matthew E.Suss Volker Presser INM-Leibniz Institute for New Materials Department of Materials Science & Engineering Saarland University Leibniz Institute for Plasma Science and Technology Faculty of Mechanical Engineering Technion-Israel Institute of Technology Wolfson Department of Chemical Engineering Technion-Israel Institute of Technology Grand Technion Energy Program Technion-Israel Institute of Technology Saarene-Saarland Center for Energy Materials and Sustainability

The demand for electronic devices that utilize lithium is steadily increasing in this rapidly advancing technological *** high-purity lithium in an environmentally friendly way is challenging by using commercialized ***,we propose the first fuel cell system for continuous lithium-ion extraction using a lithium superionic conductor membrane and advanced *** fuel cell system for extracting lithium-ion has demonstrated a twofold increase in the selectivity of Li+/Na+while producing electricity.

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